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<div class="title">octree_search.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_SEARCH_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_SEARCH_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_pointcloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT = OctreeContainerPo<span class="keywordtype">int</span>Indices ,  <span class="keyword">typename</span> BranchContainerT = OctreeContainerEmpty &gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">   57</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">OctreePointCloudSearch</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;PointT, LeafContainerT, BranchContainerT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="comment">// public typedefs</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; IndicesPtr;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const std::vector&lt;int&gt; &gt; IndicesConstPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="comment">// Boost shared pointers</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="comment">// Eigen aligned allocator</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt; AlignedPointTVector;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreeT</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreeT::LeafNode LeafNode;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreeT::BranchNode BranchNode;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#adb3b8d2c1fa8f5548de1a4c3f4b8af2c">   82</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#adb3b8d2c1fa8f5548de1a4c3f4b8af2c">OctreePointCloudSearch</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resolution) :</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT&gt; (resolution)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a922594b383449d1cf7662b3551ea4aa6">   89</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a922594b383449d1cf7662b3551ea4aa6">~OctreePointCloudSearch</a> ()</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#afb43baee48b83316cce5d4003561aabb">voxelSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, std::vector&lt;int&gt;&amp; point_idx_data);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#afb43baee48b83316cce5d4003561aabb">voxelSearch</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> index, std::vector&lt;int&gt;&amp; point_idx_data);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">  119</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                        std::vector&lt;float&gt; &amp;k_sqr_distances)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">nearestKSearch</a> (cloud[index], k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                        std::vector&lt;float&gt; &amp;k_sqr_distances);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">nearestKSearch</a> (<span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">  156</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">approxNearestSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> query_index, <span class="keywordtype">int</span> &amp;result_index, <span class="keywordtype">float</span> &amp;sqr_distance)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">approxNearestSearch</a> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[query_index], result_index, sqr_distance));</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">approxNearestSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, <span class="keywordtype">int</span> &amp;result_index, <span class="keywordtype">float</span> &amp;sqr_distance);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">approxNearestSearch</a> (<span class="keywordtype">int</span> query_index, <span class="keywordtype">int</span> &amp;result_index, <span class="keywordtype">float</span> &amp;sqr_distance);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">  189</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                      std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">radiusSearch</a> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index], radius, k_indices, k_sqr_distances, max_nn));</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, <span class="keyword">const</span> <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                      std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">radiusSearch</a> (<span class="keywordtype">int</span> index, <span class="keyword">const</span> <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                      std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#ae89d60007b4ba6a92e3c3dc879ab9538">getIntersectedVoxelCenters</a> (Eigen::Vector3f origin, Eigen::Vector3f direction,</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                                    AlignedPointTVector &amp;voxel_center_list, <span class="keywordtype">int</span> max_voxel_count = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9a4587e573349759836cf8146baeb00b">getIntersectedVoxelIndices</a> (Eigen::Vector3f origin, Eigen::Vector3f direction,</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                                    std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;                                    <span class="keywordtype">int</span> max_voxel_count = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#abf53270d1fe0590b0d44a286119cafb5">boxSearch</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;min_pt, <span class="keyword">const</span> Eigen::Vector3f &amp;max_pt, std::vector&lt;int&gt; &amp;k_indices) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="comment">// Octree-based search routines &amp; helpers</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html">  261</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html">prioBranchQueueEntry</a></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a88de2ae8393ffd95e498261587a6e724">  265</a></span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a88de2ae8393ffd95e498261587a6e724">prioBranchQueueEntry</a> () :</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a31c6a920e3d2442810286263a2faf1e8">node</a> (), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#ac6896fd3b626b908917d5da9786e91c6">point_distance</a> (0), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a25f1aa98e82f8ad00b4d2a549fa4257e">key</a> ()</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          {</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a723b50b3869f2da1796cce6bacaa4b77">  275</a></span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a723b50b3869f2da1796cce6bacaa4b77">prioBranchQueueEntry</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* _node, <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; _key, <span class="keywordtype">float</span> _point_distance) :</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a31c6a920e3d2442810286263a2faf1e8">node</a> (_node), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#ac6896fd3b626b908917d5da9786e91c6">point_distance</a> (_point_distance), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a25f1aa98e82f8ad00b4d2a549fa4257e">key</a> (_key)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a200c873f71fff21737682411df8735d7">  283</a></span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a200c873f71fff21737682411df8735d7">operator &lt; </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html">prioBranchQueueEntry</a> rhs)<span class="keyword"> const</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#ac6896fd3b626b908917d5da9786e91c6">point_distance</a> &gt; rhs.<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#ac6896fd3b626b908917d5da9786e91c6">point_distance</a>);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;          }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a31c6a920e3d2442810286263a2faf1e8">  290</a></span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a31c6a920e3d2442810286263a2faf1e8">node</a>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#ac6896fd3b626b908917d5da9786e91c6">  293</a></span>&#160;          <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#ac6896fd3b626b908917d5da9786e91c6">point_distance</a>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a25f1aa98e82f8ad00b4d2a549fa4257e">  296</a></span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a25f1aa98e82f8ad00b4d2a549fa4257e">key</a>;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        };</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html">  304</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html">prioPointQueueEntry</a></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ab295e1f9ed5635492f0ad36c4ea849f5">  309</a></span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ab295e1f9ed5635492f0ad36c4ea849f5">prioPointQueueEntry</a> () :</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#a00fb485718ecaa7d7e23f90ceb2c6023">point_idx_</a> (0), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">point_distance_</a> (0)</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          }</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#afc567ed22e8f873e54214eec87c0f70a">  318</a></span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#afc567ed22e8f873e54214eec87c0f70a">prioPointQueueEntry</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp; point_idx, <span class="keywordtype">float</span> point_distance) :</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#a00fb485718ecaa7d7e23f90ceb2c6023">point_idx_</a> (point_idx), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">point_distance_</a> (point_distance)</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;          }</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#adf4989474b9da23a982443be994a5f92">  326</a></span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#adf4989474b9da23a982443be994a5f92">operator&lt; </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html">prioPointQueueEntry</a>&amp; rhs)<span class="keyword"> const</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;            <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">point_distance_</a> &lt; rhs.<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">point_distance_</a>);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#a00fb485718ecaa7d7e23f90ceb2c6023">  333</a></span>&#160;          <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#a00fb485718ecaa7d7e23f90ceb2c6023">point_idx_</a>;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">  336</a></span>&#160;          <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">point_distance_</a>;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        };</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9c6a211241668de62243825b1f95e76a">pointSquaredDist</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_a, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_b) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        <span class="comment">// Recursive search routine methods</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a08c976a887a568daced02c11da5c75df">getNeighborsWithinRadiusRecursive</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keyword">const</span> <span class="keywordtype">double</span> radiusSquared,</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                                           <span class="keyword">const</span> BranchNode* node, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key,</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth, std::vector&lt;int&gt;&amp; k_indices,</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;                                           std::vector&lt;float&gt;&amp; k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        <span class="keywordtype">double</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a907f077b8bcf8f7b85c0f181c9ac6fd8">getKNearestNeighborRecursive</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> K, <span class="keyword">const</span> BranchNode* node,</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;                                      <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth,</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;                                      <span class="keyword">const</span> <span class="keywordtype">double</span> squared_search_radius,</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                                      std::vector&lt;prioPointQueueEntry&gt;&amp; point_candidates) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2361d272532234458d3a6a5d32fe0d01">approxNearestSearchRecursive</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keyword">const</span> BranchNode* node, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key,</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;                                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth, <span class="keywordtype">int</span>&amp; result_index, <span class="keywordtype">float</span>&amp; sqr_distance);</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a265cd3d276609bd215c98d7680976e47">getIntersectedVoxelCentersRecursive</a> (<span class="keywordtype">double</span> min_x, <span class="keywordtype">double</span> min_y, <span class="keywordtype">double</span> min_z, <span class="keywordtype">double</span> max_x, <span class="keywordtype">double</span> max_y,</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;                                             <span class="keywordtype">double</span> max_z, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> a, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* node,</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;                                             <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key, AlignedPointTVector &amp;voxel_center_list,</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;                                             <span class="keywordtype">int</span> max_voxel_count) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a4736506b85b403d53265661cdc637cbc">boxSearchRecursive</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;min_pt, <span class="keyword">const</span> Eigen::Vector3f &amp;max_pt, <span class="keyword">const</span> BranchNode* node,</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;                            <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth, std::vector&lt;int&gt;&amp; k_indices) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a722a3807b9e1ab10e7db5aeac79b001f">getIntersectedVoxelIndicesRecursive</a> (<span class="keywordtype">double</span> min_x, <span class="keywordtype">double</span> min_y, <span class="keywordtype">double</span> min_z,</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;                                             <span class="keywordtype">double</span> max_x, <span class="keywordtype">double</span> max_y, <span class="keywordtype">double</span> max_z,</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;                                             <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> a, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* node, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key,</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                                             std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;                                             <span class="keywordtype">int</span> max_voxel_count) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9c2837512d584123a6cdf26123feec99">  465</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9c2837512d584123a6cdf26123feec99">initIntersectedVoxel</a> (Eigen::Vector3f &amp;origin, Eigen::Vector3f &amp;direction,</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                              <span class="keywordtype">double</span> &amp;min_x, <span class="keywordtype">double</span> &amp;min_y, <span class="keywordtype">double</span> &amp;min_z,</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;                              <span class="keywordtype">double</span> &amp;max_x, <span class="keywordtype">double</span> &amp;max_y, <span class="keywordtype">double</span> &amp;max_z,</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;                              <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> &amp;a)<span class="keyword"> const</span></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;          <span class="comment">// Account for division by zero when direction vector is 0.0</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> epsilon = 1e-10f;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;          <span class="keywordflow">if</span> (direction.x () == 0.0)</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;            direction.x () = epsilon;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;          <span class="keywordflow">if</span> (direction.y () == 0.0)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;            direction.y () = epsilon;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;          <span class="keywordflow">if</span> (direction.z () == 0.0)</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;            direction.z () = epsilon;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;          <span class="comment">// Voxel childIdx remapping</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;          a = 0;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;          <span class="comment">// Handle negative axis direction vector</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;          <span class="keywordflow">if</span> (direction.x () &lt; 0.0)</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;          {</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;            origin.x () = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (this-&gt;min_x_) + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (this-&gt;max_x_) - origin.x ();</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;            direction.x () = -direction.x ();</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;            a |= 4;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;          }</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;          <span class="keywordflow">if</span> (direction.y () &lt; 0.0)</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;          {</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;            origin.y () = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (this-&gt;min_y_) + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (this-&gt;max_y_) - origin.y ();</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;            direction.y () = -direction.y ();</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            a |= 2;</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;          }</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;          <span class="keywordflow">if</span> (direction.z () &lt; 0.0)</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;          {</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;            origin.z () = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (this-&gt;min_z_) + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (this-&gt;max_z_) - origin.z ();</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;            direction.z () = -direction.z ();</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;            a |= 1;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;          }</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;          min_x = (this-&gt;min_x_ - origin.x ()) / direction.x ();</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;          max_x = (this-&gt;max_x_ - origin.x ()) / direction.x ();</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;          min_y = (this-&gt;min_y_ - origin.y ()) / direction.y ();</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;          max_y = (this-&gt;max_y_ - origin.y ()) / direction.y ();</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;          min_z = (this-&gt;min_z_ - origin.z ()) / direction.z ();</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;          max_z = (this-&gt;max_z_ - origin.z ()) / direction.z ();</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;        }</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00519"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#ad3dcc9a1781a9d8bb73b5ea1a6425709">  519</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#ad3dcc9a1781a9d8bb73b5ea1a6425709">getFirstIntersectedNode</a> (<span class="keywordtype">double</span> min_x, <span class="keywordtype">double</span> min_y, <span class="keywordtype">double</span> min_z, <span class="keywordtype">double</span> mid_x, <span class="keywordtype">double</span> mid_y, <span class="keywordtype">double</span> mid_z)<span class="keyword"> const</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;          <span class="keywordtype">int</span> currNode = 0;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;          <span class="keywordflow">if</span> (min_x &gt; min_y)</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;          {</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;            <span class="keywordflow">if</span> (min_x &gt; min_z)</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;            {</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;              <span class="comment">// max(min_x, min_y, min_z) is min_x. Entry plane is YZ.</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;              <span class="keywordflow">if</span> (mid_y &lt; min_x)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;                currNode |= 2;</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;              <span class="keywordflow">if</span> (mid_z &lt; min_x)</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;                currNode |= 1;</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;            }</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;            {</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;              <span class="comment">// max(min_x, min_y, min_z) is min_z. Entry plane is XY.</span></div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;              <span class="keywordflow">if</span> (mid_x &lt; min_z)</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;                currNode |= 4;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;              <span class="keywordflow">if</span> (mid_y &lt; min_z)</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;                currNode |= 2;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;            }</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;          }</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;          {</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;            <span class="keywordflow">if</span> (min_y &gt; min_z)</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;            {</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;              <span class="comment">// max(min_x, min_y, min_z) is min_y. Entry plane is XZ.</span></div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;              <span class="keywordflow">if</span> (mid_x &lt; min_y)</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;                currNode |= 4;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;              <span class="keywordflow">if</span> (mid_z &lt; min_y)</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;                currNode |= 1;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;            }</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;            {</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;              <span class="comment">// max(min_x, min_y, min_z) is min_z. Entry plane is XY.</span></div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;              <span class="keywordflow">if</span> (mid_x &lt; min_z)</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;                currNode |= 4;</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;              <span class="keywordflow">if</span> (mid_y &lt; min_z)</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;                currNode |= 2;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;            }</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;          }</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;          <span class="keywordflow">return</span> currNode;</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        }</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160; </div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00578"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a27ee200992e4fced45f27e3d138e5b6f">  578</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a27ee200992e4fced45f27e3d138e5b6f">getNextIntersectedNode</a> (<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z, <span class="keywordtype">int</span> a, <span class="keywordtype">int</span> b, <span class="keywordtype">int</span> c)<span class="keyword"> const</span></div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;          <span class="keywordflow">if</span> (x &lt; y)</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;          {</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;            <span class="keywordflow">if</span> (x &lt; z)</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;              <span class="keywordflow">return</span> a;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;              <span class="keywordflow">return</span> c;</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;          }</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;          {</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;            <span class="keywordflow">if</span> (y &lt; z)</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;              <span class="keywordflow">return</span> b;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;              <span class="keywordflow">return</span> c;</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;          }</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;        }</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160; </div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;      };</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  }</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;}</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160; </div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/impl/octree_search.hpp&gt;</span></div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_OCTREE_SEARCH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html">pcl::octree::OctreeNode</a></div><div class="ttdoc">Abstract octree node class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a></div><div class="ttdoc">Octree pointcloud class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html">pcl::octree::OctreePointCloudSearch::prioBranchQueueEntry</a></div><div class="ttdoc">Priority queue entry for branch nodes</div><div class="ttdef"><b>Definition:</b> octree_search.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry_html_a200c873f71fff21737682411df8735d7"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a200c873f71fff21737682411df8735d7">pcl::octree::OctreePointCloudSearch::prioBranchQueueEntry::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const prioBranchQueueEntry rhs) const</div><div class="ttdoc">Operator&lt; for comparing priority queue entries with each other.</div><div class="ttdef"><b>Definition:</b> octree_search.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry_html_a25f1aa98e82f8ad00b4d2a549fa4257e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a25f1aa98e82f8ad00b4d2a549fa4257e">pcl::octree::OctreePointCloudSearch::prioBranchQueueEntry::key</a></div><div class="ttdeci">OctreeKey key</div><div class="ttdoc">Octree key.</div><div class="ttdef"><b>Definition:</b> octree_search.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry_html_a31c6a920e3d2442810286263a2faf1e8"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a31c6a920e3d2442810286263a2faf1e8">pcl::octree::OctreePointCloudSearch::prioBranchQueueEntry::node</a></div><div class="ttdeci">const OctreeNode * node</div><div class="ttdoc">Pointer to octree node.</div><div class="ttdef"><b>Definition:</b> octree_search.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry_html_a723b50b3869f2da1796cce6bacaa4b77"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a723b50b3869f2da1796cce6bacaa4b77">pcl::octree::OctreePointCloudSearch::prioBranchQueueEntry::prioBranchQueueEntry</a></div><div class="ttdeci">prioBranchQueueEntry(OctreeNode *_node, OctreeKey &amp;_key, float _point_distance)</div><div class="ttdoc">Constructor for initializing priority queue entry.</div><div class="ttdef"><b>Definition:</b> octree_search.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry_html_a88de2ae8393ffd95e498261587a6e724"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#a88de2ae8393ffd95e498261587a6e724">pcl::octree::OctreePointCloudSearch::prioBranchQueueEntry::prioBranchQueueEntry</a></div><div class="ttdeci">prioBranchQueueEntry()</div><div class="ttdoc">Empty constructor</div><div class="ttdef"><b>Definition:</b> octree_search.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry_html_ac6896fd3b626b908917d5da9786e91c6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_branch_queue_entry.html#ac6896fd3b626b908917d5da9786e91c6">pcl::octree::OctreePointCloudSearch::prioBranchQueueEntry::point_distance</a></div><div class="ttdeci">float point_distance</div><div class="ttdoc">Distance to query point.</div><div class="ttdef"><b>Definition:</b> octree_search.h:293</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry</a></div><div class="ttdoc">Priority queue entry for point candidates</div><div class="ttdef"><b>Definition:</b> octree_search.h:305</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html_a00fb485718ecaa7d7e23f90ceb2c6023"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#a00fb485718ecaa7d7e23f90ceb2c6023">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry::point_idx_</a></div><div class="ttdeci">int point_idx_</div><div class="ttdoc">Index representing a point in the dataset given by setInputCloud.</div><div class="ttdef"><b>Definition:</b> octree_search.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html_ab295e1f9ed5635492f0ad36c4ea849f5"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ab295e1f9ed5635492f0ad36c4ea849f5">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry::prioPointQueueEntry</a></div><div class="ttdeci">prioPointQueueEntry()</div><div class="ttdoc">Empty constructor</div><div class="ttdef"><b>Definition:</b> octree_search.h:309</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html_adf4989474b9da23a982443be994a5f92"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#adf4989474b9da23a982443be994a5f92">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const prioPointQueueEntry &amp;rhs) const</div><div class="ttdoc">Operator&lt; for comparing priority queue entries with each other.</div><div class="ttdef"><b>Definition:</b> octree_search.h:327</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html_ae6f400f8f120674cf9f7d5e6edbd4345"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry::point_distance_</a></div><div class="ttdeci">float point_distance_</div><div class="ttdoc">Distance to query point.</div><div class="ttdef"><b>Definition:</b> octree_search.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html_afc567ed22e8f873e54214eec87c0f70a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#afc567ed22e8f873e54214eec87c0f70a">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry::prioPointQueueEntry</a></div><div class="ttdeci">prioPointQueueEntry(unsigned int &amp;point_idx, float point_distance)</div><div class="ttdoc">Constructor for initializing priority queue entry.</div><div class="ttdef"><b>Definition:</b> octree_search.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a></div><div class="ttdoc">Octree pointcloud search class</div><div class="ttdef"><b>Definition:</b> octree_search.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a08c976a887a568daced02c11da5c75df"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a08c976a887a568daced02c11da5c75df">pcl::octree::OctreePointCloudSearch::getNeighborsWithinRadiusRecursive</a></div><div class="ttdeci">void getNeighborsWithinRadiusRecursive(const PointT &amp;point, const double radiusSquared, const BranchNode *node, const OctreeKey &amp;key, unsigned int tree_depth, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn) const</div><div class="ttdoc">Recursive search method that explores the octree and finds neighbors within a given radius</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:317</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a21d3818a5a56eef093a0f556b3b1ff60"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">pcl::octree::OctreePointCloudSearch::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointCloud &amp;cloud, int index, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances)</div><div class="ttdoc">Search for k-nearest neighbors at the query point.</div><div class="ttdef"><b>Definition:</b> octree_search.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a2361d272532234458d3a6a5d32fe0d01"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2361d272532234458d3a6a5d32fe0d01">pcl::octree::OctreePointCloudSearch::approxNearestSearchRecursive</a></div><div class="ttdeci">void approxNearestSearchRecursive(const PointT &amp;point, const BranchNode *node, const OctreeKey &amp;key, unsigned int tree_depth, int &amp;result_index, float &amp;sqr_distance)</div><div class="ttdoc">Recursive search method that explores the octree and finds the approximate nearest neighbor</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:402</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a265cd3d276609bd215c98d7680976e47"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a265cd3d276609bd215c98d7680976e47">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelCentersRecursive</a></div><div class="ttdeci">int getIntersectedVoxelCentersRecursive(double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &amp;key, AlignedPointTVector &amp;voxel_center_list, int max_voxel_count) const</div><div class="ttdoc">Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers....</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:631</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a27ee200992e4fced45f27e3d138e5b6f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a27ee200992e4fced45f27e3d138e5b6f">pcl::octree::OctreePointCloudSearch::getNextIntersectedNode</a></div><div class="ttdeci">int getNextIntersectedNode(double x, double y, double z, int a, int b, int c) const</div><div class="ttdoc">Get the next visited node given the current node upper bounding box corner. This function accepts thr...</div><div class="ttdef"><b>Definition:</b> octree_search.h:578</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a2af4c4588b2b73cfcd74fb1f906f2b45"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">pcl::octree::OctreePointCloudSearch::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointCloud &amp;cloud, int index, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0)</div><div class="ttdoc">Search for all neighbors of query point that are within a given radius.</div><div class="ttdef"><b>Definition:</b> octree_search.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a4736506b85b403d53265661cdc637cbc"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a4736506b85b403d53265661cdc637cbc">pcl::octree::OctreePointCloudSearch::boxSearchRecursive</a></div><div class="ttdeci">void boxSearchRecursive(const Eigen::Vector3f &amp;min_pt, const Eigen::Vector3f &amp;max_pt, const BranchNode *node, const OctreeKey &amp;key, unsigned int tree_depth, std::vector&lt; int &gt; &amp;k_indices) const</div><div class="ttdoc">Recursive search method that explores the octree and finds points within a rectangular search area</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:506</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a722a3807b9e1ab10e7db5aeac79b001f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a722a3807b9e1ab10e7db5aeac79b001f">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelIndicesRecursive</a></div><div class="ttdeci">int getIntersectedVoxelIndicesRecursive(double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &amp;key, std::vector&lt; int &gt; &amp;k_indices, int max_voxel_count) const</div><div class="ttdoc">Recursively search the tree for all intersected leaf nodes and return a vector of indices....</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:749</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a76f66f61c1561a260c9dfd7a91bce860"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">pcl::octree::OctreePointCloudSearch::approxNearestSearch</a></div><div class="ttdeci">void approxNearestSearch(const PointCloud &amp;cloud, int query_index, int &amp;result_index, float &amp;sqr_distance)</div><div class="ttdoc">Search for approx. nearest neighbor at the query point.</div><div class="ttdef"><b>Definition:</b> octree_search.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a907f077b8bcf8f7b85c0f181c9ac6fd8"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a907f077b8bcf8f7b85c0f181c9ac6fd8">pcl::octree::OctreePointCloudSearch::getKNearestNeighborRecursive</a></div><div class="ttdeci">double getKNearestNeighborRecursive(const PointT &amp;point, unsigned int K, const BranchNode *node, const OctreeKey &amp;key, unsigned int tree_depth, const double squared_search_radius, std::vector&lt; prioPointQueueEntry &gt; &amp;point_candidates) const</div><div class="ttdoc">Recursive search method that explores the octree and finds the K nearest neighbors</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:208</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a922594b383449d1cf7662b3551ea4aa6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a922594b383449d1cf7662b3551ea4aa6">pcl::octree::OctreePointCloudSearch::~OctreePointCloudSearch</a></div><div class="ttdeci">virtual ~OctreePointCloudSearch()</div><div class="ttdoc">Empty class destructor.</div><div class="ttdef"><b>Definition:</b> octree_search.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a9a4587e573349759836cf8146baeb00b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9a4587e573349759836cf8146baeb00b">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelIndices</a></div><div class="ttdeci">int getIntersectedVoxelIndices(Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector&lt; int &gt; &amp;k_indices, int max_voxel_count=0) const</div><div class="ttdoc">Get indices of all voxels that are intersected by a ray (origin, direction).</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:608</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a9c2837512d584123a6cdf26123feec99"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9c2837512d584123a6cdf26123feec99">pcl::octree::OctreePointCloudSearch::initIntersectedVoxel</a></div><div class="ttdeci">void initIntersectedVoxel(Eigen::Vector3f &amp;origin, Eigen::Vector3f &amp;direction, double &amp;min_x, double &amp;min_y, double &amp;min_z, double &amp;max_x, double &amp;max_y, double &amp;max_z, unsigned char &amp;a) const</div><div class="ttdoc">Initialize raytracing algorithm</div><div class="ttdef"><b>Definition:</b> octree_search.h:465</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a9c6a211241668de62243825b1f95e76a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9c6a211241668de62243825b1f95e76a">pcl::octree::OctreePointCloudSearch::pointSquaredDist</a></div><div class="ttdeci">float pointSquaredDist(const PointT &amp;point_a, const PointT &amp;point_b) const</div><div class="ttdoc">Helper function to calculate the squared distance between two points</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:498</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_abf53270d1fe0590b0d44a286119cafb5"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#abf53270d1fe0590b0d44a286119cafb5">pcl::octree::OctreePointCloudSearch::boxSearch</a></div><div class="ttdeci">int boxSearch(const Eigen::Vector3f &amp;min_pt, const Eigen::Vector3f &amp;max_pt, std::vector&lt; int &gt; &amp;k_indices) const</div><div class="ttdoc">Search for points within rectangular search area</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:190</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_ad3dcc9a1781a9d8bb73b5ea1a6425709"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#ad3dcc9a1781a9d8bb73b5ea1a6425709">pcl::octree::OctreePointCloudSearch::getFirstIntersectedNode</a></div><div class="ttdeci">int getFirstIntersectedNode(double min_x, double min_y, double min_z, double mid_x, double mid_y, double mid_z) const</div><div class="ttdoc">Find first child node ray will enter</div><div class="ttdef"><b>Definition:</b> octree_search.h:519</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_adb3b8d2c1fa8f5548de1a4c3f4b8af2c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#adb3b8d2c1fa8f5548de1a4c3f4b8af2c">pcl::octree::OctreePointCloudSearch::OctreePointCloudSearch</a></div><div class="ttdeci">OctreePointCloudSearch(const double resolution)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> octree_search.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_ae89d60007b4ba6a92e3c3dc879ab9538"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#ae89d60007b4ba6a92e3c3dc879ab9538">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelCenters</a></div><div class="ttdeci">int getIntersectedVoxelCenters(Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &amp;voxel_center_list, int max_voxel_count=0) const</div><div class="ttdoc">Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction).</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:583</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_afb43baee48b83316cce5d4003561aabb"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#afb43baee48b83316cce5d4003561aabb">pcl::octree::OctreePointCloudSearch::voxelSearch</a></div><div class="ttdeci">bool voxelSearch(const PointT &amp;point, std::vector&lt; int &gt; &amp;point_idx_data)</div><div class="ttdoc">Search for neighbors within a voxel at given point</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:46</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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